Auxiliary material attaching method and device and storage medium

Abstract

The invention discloses an auxiliary material attaching method and device and a storage medium, and the auxiliary material attaching method comprises the steps: adjusting the posture of a to-be-attached accessory to a preset posture matched with the type of an attaching surface according to the type of the attaching surface of the to-be-attached accessory; under the condition that the posture of the to-be-attached part is adjusted to the preset posture, first position information of the auxiliary material and second position information of the attachment surface are obtained; according to the first position information and the second position information, adjusting the degree of freedom of at least one of the auxiliary material and the attachment surface, so that the degree of freedom of the auxiliary material is matched with the degree of freedom of the attachment surface; and controlling the auxiliary material to be attached to the attaching surface of the to-be-attached part.

Description

Technical Field

[0001] The present application relates to the technical field of product processing methods, and more specifically, to an auxiliary material attaching method, device and storage medium. Background Art

[0002] During the production process of some products, it is necessary to attach auxiliary materials to certain surfaces of the products. In existing technologies, when attaching auxiliary materials to the surface of the product, it is often not compatible with all surfaces, but only with a few specific surfaces, which greatly restricts the improvement of the automation rate of the auxiliary material attachment work.

[0003] In view of this, it is necessary to propose a new technical solution to solve the above technical problems. Summary of the Invention

[0004] One purpose of this application is to provide a new technical solution for the auxiliary material attachment method.

[0005] According to a first aspect of the present application, a method for attaching an auxiliary material is provided, the method comprising:

[0006] According to the type of the attachment surface to which the attachment is to be attached, adjusting the posture of the attachment to be attached to a predetermined posture that matches the type of the attachment surface;

[0007] When the posture of the attachment to be attached is adjusted to a predetermined posture, first position information of the auxiliary material and second position information of the attachment surface are respectively acquired;

[0008] adjusting the degree of freedom of at least one of the auxiliary material and the attachment surface according to the first position information and the second position information so that the degree of freedom of the auxiliary material matches the degree of freedom of the attachment surface;

[0009] Control the attachment of auxiliary materials to the attachment surface of the accessory to be attached.

[0010] Optionally, when the attachment surface is an external bevel, adjusting the posture of the attachment to be attached to a predetermined posture that matches the type of the attachment surface includes:

[0011] The attachment to be attached is controlled to rotate around the X-axis and / or the Y-axis so that the attachment surface is parallel to the horizontal plane.

[0012] Optionally, the degree of freedom of adjusting at least one of the auxiliary material and the attachment surface includes:

[0013] At least one of the auxiliary material and the attachment surface is controlled to move along the X axis and / or along the Y axis and / or rotate around the Z axis.

[0014] Optionally, when the type of the attachment surface includes an inner side surface, adjusting the posture of the accessory to be attached to a predetermined posture matching the type of the attachment surface includes:

[0015] The attachment to be attached is controlled to rotate around the X axis and / or the Y axis and / or along the Z axis so that the attachment surface is rotated to the positive direction of the X axis or the Y axis.

[0016] Optionally, the degree of freedom of adjusting at least one of the auxiliary material and the attachment surface includes:

[0017] Control at least one of the auxiliary material and the attachment surface to move along the X axis and / or along the Y axis and / or along the Z axis and / or rotate around the Z axis and / or around the X axis and / or around the Y axis.

[0018] Optionally, before adjusting the degree of freedom of at least one of the auxiliary material and the attachment surface according to the first position information and the second position information so that the degree of freedom of the auxiliary material matches the degree of freedom of the attachment surface, the attachment method further includes:

[0019] According to the first position information and the second position information, simulate the attachment of the auxiliary material to the attachment surface to be attached and obtain a simulation result;

[0020] If the simulation result is qualified, the degree of freedom of at least one of the auxiliary material and the attachment surface is adjusted according to the first position information and the second position information so that the degree of freedom of the auxiliary material matches the degree of freedom of the attachment surface.

[0021] Optionally, simulating the attachment of the auxiliary material to the attachment surface of the accessory to be attached and obtaining a simulation result based on the first position information and the second position information includes:

[0022] determining a first center of the auxiliary material and a second center of the attachment surface according to the first position information and the second position information respectively;

[0023] Fitting the first center and the second center and determining a deviation value between the first center and the second center;

[0024] When the deviation value does not exceed the deviation threshold, the simulation result is determined to be qualified.

[0025] Optionally, when the simulation result is unqualified, the auxiliary material is discarded.

[0026] According to a second aspect of the present application, a supplementary material attaching device is provided, the attaching device comprising:

[0027] A first adjustment module is used to adjust the posture of the attachment to be attached to a predetermined posture that matches the type of the attachment surface according to the type of the attachment surface to be attached;

[0028] An acquisition module, configured to respectively acquire first position information of the auxiliary material and second position information of the attachment surface when the posture of the attachment to be attached is adjusted to a predetermined posture;

[0029] a second adjustment module, configured to adjust the degree of freedom of at least one of the auxiliary material and the attachment surface according to the first position information and the second position information, so that the degree of freedom of the auxiliary material matches the degree of freedom of the attachment surface;

[0030] A control module, used for controlling the attachment of the auxiliary material to the attachment surface to be attached;

[0031] a storage module for storing executable computer instructions;

[0032] A processing module is used to execute the auxiliary material attachment method according to any one of the first aspects under the control of the executable computer instructions.

[0033] According to a third aspect of the present application, a computer-readable storage medium is further provided, on which computer instructions are stored. When the computer instructions are executed by a processor, the auxiliary material attachment method according to the first aspect is executed.

[0034] The auxiliary material attachment method provided in the embodiments of this application first adjusts the posture of the accessory to be attached to a predetermined position based on the type of attachment surface. This ensures that the material-retrieving manipulator of the auxiliary attachment machine can align with the attachment surface, thereby ensuring smooth attachment. This auxiliary material attachment method is compatible with attaching auxiliary materials to surfaces in various positions and postures, greatly improving the degree of automation of the auxiliary material attachment process.

[0035] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0037] Figure 1 Schematic diagram of the process of the auxiliary material attachment method according to an embodiment of the present application;

[0038] Figure 2 The figure shows a functional block diagram of the auxiliary material attaching device according to an embodiment of the present application;

[0039] Figure 3 The figure shows a functional block diagram of the auxiliary material attaching device according to an embodiment of the present application;

[0040] Figures 4 to 7Shown is a schematic diagram of an accessory to be attached used in the auxiliary material attachment method of an embodiment of the present application. DETAILED DESCRIPTION

[0041] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application.

[0042] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0043] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0044] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0045] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0046] <Method Example>

[0047] Reference Figure 1 As shown, according to one embodiment of the present application, a method for attaching auxiliary materials is provided, and the method for attaching auxiliary materials includes:

[0048] S101, adjusting the posture of the accessory to be attached to a predetermined posture matching the type of the attachment surface according to the type of the attachment surface;

[0049] S102, when the posture of the accessory to be attached is adjusted to a predetermined posture, obtaining first position information of the auxiliary material and second position information of the attachment surface respectively;

[0050] S103, adjusting the degree of freedom of at least one of the auxiliary material and the attachment surface according to the first position information and the second position information, so that the degree of freedom of the auxiliary material matches the degree of freedom of the attachment surface;

[0051] S104: Control the auxiliary material to be attached to the attachment surface of the accessory to be attached.

[0052] In an embodiment of the present application, the auxiliary material attaching method can attach the auxiliary material to the attachment surface of an accessory to be attached; the accessory to be attached can be, for example, 3C electronic components, which are electronic components in the fields of computers, communications, and consumer electronics; and the auxiliary material can be, for example, pressure-sensitive adhesive, foam, silicone, film, steel sheet, steel mesh, polyimide film, copper foil, etc. For example, the auxiliary material attaching operation can be performed using an auxiliary attaching machine, and the material retrieving robot of the auxiliary attaching machine can be used to pick up the auxiliary material.

[0053] Regarding step S101, since there are often some surfaces with special positions or postures in the accessories to be attached, it is difficult for the material-grabbing robot of the auxiliary attachment machine to align with these surfaces to attach the auxiliary materials when attaching the auxiliary materials. Therefore, before performing the attachment action, first adjust the posture of the accessory to be attached to a predetermined posture according to the type of the attachment surface to be attached, so as to match the type of the attachment surface; thereby ensuring that the material-grabbing robot of the auxiliary attachment machine can align with the attachment surface, and further ensuring that the attachment action can be carried out smoothly. For example, for some tilted surfaces, the posture of the accessory to be attached can be adjusted, such as by rotating the accessory to be attached, so that the tilted surface is adjusted to a horizontal posture, thereby facilitating the material-grabbing robot of the auxiliary attachment machine to align with the surface for attachment.

[0054] In steps S102 and S103, the first position information of the auxiliary material and the second position information of the attachment surface are first acquired, respectively. The second position information of the attachment surface is the position information of the attachment surface corresponding to the position of the attachment to be attached after the attachment is adjusted to a predetermined position. For example, a first visual camera photographs the auxiliary material to capture an image containing the auxiliary material, and then performs image processing and analysis to acquire the first position information of the auxiliary material. A second visual camera photographs the attachment surface to capture an image containing the attachment surface, and then performs image processing and analysis to acquire the second position information of the attachment surface. Generally, the attachment surface is provided with attachment features, and the second visual camera photographs the attachment features.

[0055] Based on the first position information of the auxiliary material and the second position information of the attachment surface, the degree of freedom of at least one of the auxiliary material and the attachment surface is adjusted; for example, the degree of freedom of the auxiliary material, the degree of freedom of the attachment surface, or both are adjusted, ultimately matching the degree of freedom of the auxiliary material with the degree of freedom of the attachment surface, that is, aligning the auxiliary material and the attachment surface. When adjusting the degree of freedom of at least one of the auxiliary material and the attachment surface, at least one of the auxiliary material and the attachment surface may be translated or rotated.

[0056] In step S104, the auxiliary material is controlled to be attached to the attachment surface of the accessory to be attached. For example, the material picking robot of the auxiliary attachment machine can be controlled to carry the auxiliary material toward the attachment surface of the accessory to be attached so as to attach the auxiliary material to the attachment surface of the accessory to be attached; the tooling carrying the accessory to be attached can also be controlled to move toward the auxiliary material so as to attach the auxiliary material to the attachment surface of the accessory to be attached; or the material picking robot of the auxiliary attachment machine and the tooling carrying the accessory to be attached can also be controlled to move toward each other at the same time so as to attach the auxiliary material to the attachment surface of the accessory to be attached.

[0057] In summary, in the auxiliary material attachment method provided in the embodiments of the present application, before the attachment operation is performed, the posture of the accessory to be attached is first adjusted to a predetermined posture based on the type of attachment surface to be attached, thereby ensuring that the material picking robot of the auxiliary attachment machine can align with the attachment surface, thereby ensuring that the attachment operation can proceed smoothly. This auxiliary material attachment method is compatible with auxiliary material attachment to surfaces in various positions and postures, greatly improving the degree of automation of the auxiliary material attachment process.

[0058] In one embodiment, when the attachment surface is an outer bevel, adjusting the posture of the attachment to be attached to a predetermined posture that matches the type of the attachment surface includes:

[0059] The attachment to be attached is controlled to rotate around the X-axis and / or the Y-axis so that the attachment surface is parallel to the horizontal plane.

[0060] In this specific example, refer to Figure 4 As shown, when the attachment surface is an externally inclined surface, that is, when the attachment surface 011 is the outer surface of the accessory 01 to be attached and the attachment surface is inclined, before obtaining the position information of the auxiliary material and the attachment surface, the attachment 01 to be attached is first rotated to adjust the attachment surface 011 to a position parallel to the horizontal plane. The plane formed by the X-axis and the Y-axis is the horizontal plane. When rotating the attachment to be attached, the attachment is rotated around the X-axis, the Y-axis, or both the X-axis and the Y-axis, so that the attachment surface is parallel to the plane formed by the X-axis and the Y-axis.

[0061] For example, the attachment to be attached is set on a tooling, and the tooling is installed on a driving mechanism. The tooling is driven to rotate by controlling the driving mechanism, thereby driving the attachment to be attached to rotate.

[0062] Reference Figure 5 As shown, if the attachment surface is the outer surface of the accessory to be attached and the attachment surface is set horizontally, the step of adjusting the posture of the accessory to be attached can be omitted, and the position information of the auxiliary material and the attachment surface and subsequent steps can be directly obtained.

[0063] In one embodiment, the degree of freedom of adjusting at least one of the auxiliary material and the attachment surface includes:

[0064] At least one of the auxiliary material and the attachment surface is controlled to move along the X axis and / or along the Y axis and / or rotate around the Z axis.

[0065] In this specific example, by controlling at least one of the auxiliary material and the attachment surface to move along the X-axis and / or move along the Y-axis and / or rotate around the Z-axis, the auxiliary material and the attachment surface are aligned in the X-axis and the Y-axis, and there is only a misalignment between the two in the Z-axis; therefore, when the attachment surface is adjusted to be parallel to the horizontal plane and the degree of freedom of the auxiliary material matches the degree of freedom of the attachment surface, the auxiliary material can be attached to the attachment surface of the attachment to be attached by controlling at least one of the auxiliary material and the attachment surface to move translationally along the Z-axis.

[0066] For example, by controlling the material-retrieving robot of the auxiliary attachment machine, the auxiliary material can be controlled to move and rotate; by controlling the tooling that carries the attachment to be attached, the attachment to be attached can be controlled to move and rotate.

[0067] In one embodiment, when the type of the attachment surface includes an inner side surface, adjusting the posture of the accessory to be attached to a predetermined posture matching the type of the attachment surface includes:

[0068] Control the attachment to be attached to rotate around the X-axis or Y-axis so that the attachment surface is perpendicular to the horizontal plane.

[0069] In this specific example, refer to Figure 6 The attachment 01 to be attached shown in FIG. 1 has an attachment surface 011 including an outer side surface and an inner side surface, and the outer side surface and the inner side surface are approximately perpendicular to the horizontal plane; Figure 7 In the illustrated attachment 01, the attachment surface 011 is the inner side, and this inner side is tilted. In these cases, the attachment 01 is rotated to adjust the attachment surface 011 to a position perpendicular to the horizontal plane. The plane formed by the X-axis and the Y-axis is the horizontal plane. When rotating the attachment, the attachment is rotated about the X-axis, the Y-axis, or both the X-axis and the Y-axis, so that the attachment surface is perpendicular to the plane formed by the X-axis and the Y-axis.

[0070] It is understandable that if the attachment surface is already perpendicular to the horizontal plane, this step can be omitted.

[0071] In one embodiment, the degree of freedom of adjusting at least one of the auxiliary material and the attachment surface includes:

[0072] Control at least one of the auxiliary material and the attachment surface to move along the X axis and / or along the Y axis and / or along the Z axis and / or rotate around the Z axis and / or around the X axis and / or around the Y axis.

[0073] In this specific example, combined with the previous step, for example, in actual operation, the attachment surface can be adjusted to a position perpendicular to the horizontal plane by first controlling the movement of the tooling carrying the attachment to be attached. Then, the material-picking manipulator of the auxiliary attachment machine is controlled to move along the X-axis and / or along the Y-axis and / or along the Z-axis and / or rotate around the Z-axis and / or rotate around the X-axis and / or rotate around the Y-axis, so that the auxiliary material and the attachment surface are aligned in the X-axis and the Z-axis, and there is only a misalignment between the two in the Y-axis; finally, the material-picking manipulator of the auxiliary attachment machine is controlled to move translationally along the Y-axis to complete the attachment of the auxiliary material to the attachment surface of the attachment to be attached.

[0074] In one embodiment, before adjusting the degree of freedom of at least one of the auxiliary material and the attachment surface based on the first position information and the second position information so that the degree of freedom of the auxiliary material matches the degree of freedom of the attachment surface, the attachment method further includes:

[0075] According to the first position information and the second position information, simulate the attachment of the auxiliary material to the attachment surface to be attached and obtain a simulation result;

[0076] If the simulation result is qualified, the degree of freedom of at least one of the auxiliary material and the attachment surface is adjusted according to the first position information and the second position information so that the degree of freedom of the auxiliary material matches the degree of freedom of the attachment surface.

[0077] In this specific example, before adjusting the degrees of freedom of at least one of the auxiliary material and the attachment surface, a simulation of the auxiliary material being attached to the attachment surface to which the accessory is to be attached is performed based on the auxiliary material's first position information and the attachment surface's second position information, and a simulation result is obtained. Only when the simulation result is satisfactory are subsequent steps performed. This effectively improves the accuracy of attaching the auxiliary material to the attachment surface, thereby increasing the pass rate of the auxiliary material attachment operation and reducing the product scrap rate.

[0078] In one embodiment, simulating the attachment of the auxiliary material to the attachment surface of the accessory to be attached and obtaining a simulation result based on the first position information and the second position information includes:

[0079] determining a first center of the auxiliary material and a second center of the attachment surface according to the first position information and the second position information respectively;

[0080] Fitting the first center and the second center and determining a deviation value between the first center and the second center;

[0081] When the deviation value does not exceed the deviation threshold, the simulation result is determined to be qualified.

[0082] In this specific example, the first center of the auxiliary material can be calculated based on the first position information of the auxiliary material, and the second center of the attachment surface can be calculated based on the second position information of the attachment surface; the maximum value of the deviation between the first center of the auxiliary material and the second center of the attachment surface, that is, the deviation threshold, can be pre-set according to actual operation requirements. After fitting the first center of the auxiliary material and the second center of the attachment surface and obtaining the deviation value of the first center and the second center, the deviation value is compared with the deviation threshold. If the deviation value is not greater than the deviation threshold, the simulation result is determined to be qualified; if the deviation value is greater than or equal to the deviation threshold, the simulation result is determined to be unqualified.

[0083] In one embodiment, when the simulation result is unqualified, the auxiliary material is discarded.

[0084] In this specific example, if the simulation result is unqualified, no subsequent action is performed, but the auxiliary material is discarded; for example, the material-picking robot of the auxiliary material-attaching machine is controlled to carry the auxiliary material to a designated location and release the auxiliary material.

[0085] Optionally, after the auxiliary material is attached to the attachment surface of the accessory to be attached, the attachment status of the auxiliary material can be re-inspected, and subsequent operations can be carried out based on the re-inspection results. For example, qualified products of the re-inspection will flow into the next process, while unqualified products of the re-inspection will flow into the NG product area.

[0086] <Device Example>

[0087] Reference Figure 2 As shown, according to another embodiment of the present application, a supplementary material attaching device 200 is provided, and the attaching device 200 includes:

[0088] The first adjustment module 201 is configured to adjust the posture of the attachment to be attached to a predetermined posture that matches the type of the attachment surface according to the type of the attachment surface to be attached;

[0089] An acquisition module 202 is used to respectively acquire first position information of the auxiliary material and second position information of the attachment surface when the posture of the attachment to be attached is adjusted to a predetermined posture;

[0090] A second adjustment module 203 is configured to adjust the degree of freedom of at least one of the auxiliary material and the attachment surface according to the first position information and the second position information, so that the degree of freedom of the auxiliary material matches the degree of freedom of the attachment surface;

[0091] The control module 204 is used to control the auxiliary material to be attached to the attachment surface of the accessory to be attached.

[0092] In the embodiment of the present application, the auxiliary material attaching device 200 can, for example, attach auxiliary materials to the attachment surface of an accessory to be attached; the accessory to be attached can be, for example, 3C electronic components, which are electronic components in the fields of computers, communications, and consumer electronics; and the auxiliary materials can be, for example, pressure-sensitive adhesive, foam, silicone, film, steel sheet, steel mesh, polyimide film, copper foil, etc. For example, the auxiliary material attaching operation can be performed by an auxiliary attaching machine, and the material retrieving robot of the auxiliary attaching machine can be used to pick up the auxiliary materials.

[0093] For the first adjustment module 201, since there are often some surfaces with special positions or postures in the accessories to be attached, it is difficult for the material-grabbing robot of the auxiliary attachment machine to align with these surfaces to attach the auxiliary materials when attaching the auxiliary materials. Therefore, before performing the attachment action, first adjust the posture of the accessory to be attached to a predetermined posture according to the type of the attachment surface to be attached, so as to match the type of the attachment surface; thereby ensuring that the material-grabbing robot of the auxiliary attachment machine can align with the attachment surface, and further ensuring that the attachment action can be carried out smoothly. For example, for some tilted surfaces, the posture of the accessory to be attached can be adjusted, such as by rotating the accessory to be attached, so that the tilted surface is adjusted to a horizontal posture, thereby facilitating the material-grabbing robot of the auxiliary attachment machine to align with the surface for attachment.

[0094] The acquisition module 202 and the second adjustment module 203 first acquire the first position information of the auxiliary material and the second position information of the attachment surface, respectively. The second position information of the attachment surface is the position information of the attachment surface corresponding to the position of the attachment to be attached after the attachment is adjusted to a predetermined position. For example, a first visual camera photographs the auxiliary material to capture an image containing the auxiliary material, and then performs image processing and analysis to obtain the first position information of the auxiliary material. A second visual camera photographs the attachment surface to capture an image containing the attachment surface, and then performs image processing and analysis to obtain the second position information of the attachment surface. Generally speaking, the attachment surface is provided with attachment features, and the second visual camera photographs the attachment features.

[0095] Based on the first position information of the auxiliary material and the second position information of the attachment surface, the degree of freedom of at least one of the auxiliary material and the attachment surface is adjusted; for example, the degree of freedom of the auxiliary material, the degree of freedom of the attachment surface, or both are adjusted, ultimately matching the degree of freedom of the auxiliary material with the degree of freedom of the attachment surface, that is, aligning the auxiliary material and the attachment surface. When adjusting the degree of freedom of at least one of the auxiliary material and the attachment surface, at least one of the auxiliary material and the attachment surface may be translated or rotated.

[0096] For the control module 204, the auxiliary material is controlled to be attached to the attachment surface of the accessory to be attached. For example, the material picking robot of the auxiliary attachment machine can be controlled to carry the auxiliary material and move toward the attachment surface of the accessory to be attached to attach the auxiliary material to the attachment surface of the accessory to be attached; the tooling carrying the accessory to be attached can also be controlled to move toward the auxiliary material to attach the auxiliary material to the attachment surface of the accessory to be attached; or the material picking robot of the auxiliary attachment machine and the tooling carrying the accessory to be attached can also be controlled to move toward each other at the same time to attach the auxiliary material to the attachment surface of the accessory to be attached.

[0097] Reference Figure 3 As shown, this embodiment also provides:

[0098] Memory 301, used to store executable computer instructions;

[0099] The processor 302 is configured to execute the auxiliary material attaching method as described above under the control of the executable computer instructions.

[0100] In summary, in the auxiliary material attaching device provided in the embodiments of the present application, before the attaching operation is performed, the posture of the accessory to be attached is first adjusted to a predetermined posture based on the type of the attachment surface to be attached, thereby ensuring that the material picking robot of the auxiliary attachment machine can align with the attachment surface, thereby ensuring that the attaching operation can proceed smoothly. This auxiliary material attaching device is compatible with attaching auxiliary materials to surfaces in various positions and postures, greatly improving the degree of automation of the auxiliary material attaching operation.

[0101] <Computer-readable storage medium>

[0102] According to another embodiment of the present application, a computer-readable storage medium is provided, on which computer instructions are stored. When the computer instructions are executed by a processor, the auxiliary material attaching method described above is executed.

[0103] The embodiments of the present disclosure may be systems, methods, and / or computer program products. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the embodiments of the present disclosure.

[0104] A computer-readable storage medium can be a tangible device that can hold and store instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination thereof. As used herein, a computer-readable storage medium is not to be construed as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through an electrical wire.

[0105] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions to be stored in the computer-readable storage medium in each computing / processing device.

[0106] The computer program instructions for performing the operation of the disclosed embodiments can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, wherein the programming language includes object-oriented programming languages such as Smalltalk, C++, and conventional procedural programming languages such as "C" language or similar programming languages. Computer-readable program instructions can be executed completely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or executed completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer via any type of network including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (such as using an Internet service provider to connect via the Internet). In certain embodiments, by utilizing the state information of computer-readable program instructions to personalize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit can execute computer-readable program instructions, thereby realizing the various aspects of the disclosed embodiments.

[0107] Various aspects of the embodiments of the present disclosure are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0108] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0109] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0110] The flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of an instruction, and the module, program segment or part of the instruction contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.

[0111] Although some specific embodiments of the present application have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A method for attaching auxiliary materials, characterized in that: The attaching method comprises: According to the type of the attachment surface to which the attachment is to be attached, adjusting the posture of the attachment to be attached to a predetermined posture that matches the type of the attachment surface; When the posture of the attachment to be attached is adjusted to a predetermined posture, first position information of the auxiliary material and second position information of the attachment surface are respectively acquired; adjusting the degree of freedom of at least one of the auxiliary material and the attachment surface according to the first position information and the second position information so that the degree of freedom of the auxiliary material matches the degree of freedom of the attachment surface; Control the attachment of auxiliary materials to the attachment surface of the accessory to be attached.

2. The auxiliary material attaching method according to claim 1, characterized in that: In the case where the attachment surface is an outer bevel, adjusting the posture of the attachment to be attached to a predetermined posture that matches the type of the attachment surface includes: The attachment to be attached is controlled to rotate around the X-axis and / or the Y-axis so that the attachment surface is parallel to the horizontal plane.

3. The auxiliary material attaching method according to claim 2, characterized in that: The degree of freedom of adjusting at least one of the auxiliary material and the attachment surface includes: At least one of the auxiliary material and the attachment surface is controlled to move along the X axis and / or along the Y axis and / or rotate around the Z axis.

4. The auxiliary material attaching method according to claim 1, characterized in that: In a case where the type of the attachment surface includes an inner side surface, adjusting the posture of the accessory to be attached to a predetermined posture matching the type of the attachment surface includes: The attachment to be attached is controlled to rotate around the X axis and / or the Y axis and / or along the Z axis so that the attachment surface is rotated to the positive direction of the X axis or the Y axis.

5. The auxiliary material attaching method according to claim 4, characterized in that: The degree of freedom of adjusting at least one of the auxiliary material and the attachment surface includes: Control at least one of the auxiliary material and the attachment surface to move along the X axis and / or along the Y axis and / or along the Z axis and / or rotate around the Z axis and / or around the X axis and / or around the Y axis.

6. The auxiliary material attaching method according to claim 1, characterized in that: Before adjusting the degree of freedom of at least one of the auxiliary material and the attachment surface according to the first position information and the second position information so that the degree of freedom of the auxiliary material matches the degree of freedom of the attachment surface, the attachment method further includes: According to the first position information and the second position information, simulate the attachment of the auxiliary material to the attachment surface to be attached and obtain a simulation result; If the simulation result is qualified, the degree of freedom of at least one of the auxiliary material and the attachment surface is adjusted according to the first position information and the second position information so that the degree of freedom of the auxiliary material matches the degree of freedom of the attachment surface.

7. The auxiliary material attaching method according to claim 6, characterized in that: The step of simulating the attachment of the auxiliary material to the attachment surface of the accessory to be attached based on the first position information and the second position information and obtaining a simulation result includes: determining a first center of the auxiliary material and a second center of the attachment surface according to the first position information and the second position information respectively; Fitting the first center and the second center and determining a deviation value between the first center and the second center; When the deviation value does not exceed the deviation threshold, the simulation result is determined to be qualified.

8. The auxiliary material attaching method according to claim 6, characterized in that: In the case that the simulation result is unqualified, the auxiliary material is discarded.

9. A supplementary material attaching device, characterized in that: The attaching device comprises: A first adjustment module is used to adjust the posture of the attachment to be attached to a predetermined posture that matches the type of the attachment surface according to the type of the attachment surface to be attached; An acquisition module, configured to respectively acquire first position information of the auxiliary material and second position information of the attachment surface when the posture of the attachment to be attached is adjusted to a predetermined posture; a second adjustment module, configured to adjust the degree of freedom of at least one of the auxiliary material and the attachment surface according to the first position information and the second position information, so that the degree of freedom of the auxiliary material matches the degree of freedom of the attachment surface; A control module, used for controlling the attachment of the auxiliary material to the attachment surface to be attached; a storage module for storing executable computer instructions; A processing module is used to execute the auxiliary material attachment method according to any one of claims 1-8 under the control of the executable computer instructions.

10. A computer-readable storage medium, characterized in that Computer instructions are stored thereon, and when the computer instructions are executed by a processor, the auxiliary material attaching method according to any one of claims 1 to 8 is executed.

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